from moveit_configs_utils import MoveItConfigsBuilder
from moveit_configs_utils.launches import generate_demo_launch
from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
    # 生成 MoveIt! 配置的 demo launch
    moveit_config = MoveItConfigsBuilder("zc4model", package_name="zc4_moveit_config").to_moveit_configs()
    moveit_demo_launch = generate_demo_launch(moveit_config)

    # 返回启动描述
    return LaunchDescription([
        moveit_demo_launch,
    ])
